Conversation RAW RGB
i.MX53 and i.MX6 IPU don't make Bayer conversion.
You will need to use some graphics library/API like gstreamer, ffmpeg and others to make this conversion using the CPU.
IPU(IC,DP,DC and etc.) doesn't recognize bayer as a valid image format.
It can receive bayer format from CSI port as generic data.
Reference
How to Support RGB565 Gated Mode Input to i.MX6 CSI
https://community.nxp.com/docs/DOC-97981
[Source Code] linux-imx6-3.14-tune
https://github.com/guh/linux-imx6-3.14-tune/blob/master/drivers/dma/ipu/ipu_idmac.c
imx6 support for 8-bit RAW camera [solved]
https://community.nxp.com/thread/306822
[影像處理] C程式 Bayer conversion 與原理介紹
http://deo-ddbox.blogspot.de/2016/02/c-bayer-conversion.html
imx6 bayer to yuv conversion